Hi Ted,
The short answer is that you'll need to add static NAT statements (identity NAT is fine) to both contexts for each of the destinations that live behind each context.
For example, assume you share the outside interface across both of the following contexts:
ContextA - protects hosts in the 10.1.1.0/24 inside subnet
ContextB - protects hosts in the 10.2.2.0/24 inside subnet
You would need to add the following statics:
ContextA:
static (inside,outside) 10.1.1.0 10.1.1.0 netmask 255.255.255.0
ContextB:
static (inside,outside) 10.2.2.0 10.2.2.0 netmask 255.255.255.0
See the following guide for more details:
http://www.cisco.com/en/US/docs/security/fwsm/fwsm40/configuration/guide/contxt_f.html#wp1124236
-Mike